/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RW_GEOMETRY_CONVEXHULL2D_HPP_
#define RW_GEOMETRY_CONVEXHULL2D_HPP_

//! @file ConvexHull2D.hpp
#if !defined(SWIG)
#include <rw/math/Vector2D.hpp>
#endif 

namespace rw { namespace geometry {
    //! @addtogroup geometry
    // @{

    /**
     * @brief interface for convexhull calculators on 2d point sets
     */
    class ConvexHull2D
    {
      public:
        /**
         * @brief Destructor
         */
        virtual ~ConvexHull2D();

        /**
         * @brief rebuilts the hull
         * @param vertices
         */
        virtual void rebuild (const std::vector< rw::math::Vector2D<> >& vertices) = 0;

        /**
         * @brief test if the given vertex is inside the convex hull
         */
        virtual bool isInside (const rw::math::Vector2D<>& vertex) = 0;

        /**
         * @brief if the vertex is inside the convex hull the minimum distance
         * to any of the half-spaces of the hull is returned. If its not inside
         * 0 is returned.
         * @param vertex
         * @return minimum distance to vertex
         */
        virtual double getMinDist (const rw::math::Vector2D<>& vertex) = 0;

        /**
         * @brief create a plain trimesh from the hull facets
         * @return the hull facets as a plain triangle mesh with normal information
         */
        virtual std::vector< rw::math::Vector2D<> >* toContour () = 0;
    };
    //! @}
}}    // namespace rw::geometry

#endif /* HULL3D_HPP_ */
